We perform experiments on Gibson [1]} and Matterport3D (MP3D) [2]} datasets with the Habitat simulator [3]}. Both Gibson and MP3D contain photorealistic 3D reconstructions of real-world environments. For Gibson, we use 25 train / 5 val scenes from the Gibson tiny split which have associated semantic annotations [4]}. For MP3D, we use the standard splits of 61 train / 11 val / 18 test scenes.
